@inproceedings{, author = {Mutter, Florian and Gareis, Stefanie and Sch{\"{a}}tz, Bernhard and Bayha, Andreas and Gr{\"{u}}neis, Franziska and Kanis, Michael and Koss, Dagmar}, title = {Model-Driven In-the-Loop Validation: Simulation-Based Testing of {UAV} Software Using Virtual Environments}, booktitle = {Proceedings of the 18th IEEE International Conference and Workshops on Engineering of Computer-Based Systems}, publisher = {IEEE}, year = {2011}, abstract = {With the availability of the off-the-shelf quadrocopter platforms, the implementation of autonomous unmanned aerial vehicle (UAV) has substantially been simplified. Such UAVs can explore unaccessible terrain and provide information about the local situation in a specified target area. For the early development of an autonomous aerial vehicle, virtual integration of the system makes it possible to test a software implementation without endangering the hardware or the environment. Key elements of such a virtual test environment for UAV software are the modeling and simulation of the environment and the hardware platform, as well as the integration of the software in the simulation.}, doi = {10.1109/ECBS.2011.30}, }